Title :
The singular locus for the n-trailers car control system
Author_Institution :
Inst. of Math., Univ. Pierre et Marie Curie, Paris, France
Abstract :
In this paper we study the problem of the car with n trailers. We compute by induction the degree of nonholonomy in every state and obtain a partition of the singular set by this degree of nonholonomy. We give also for each strata a set of vector fields in the Lie algebra of the control system which makes a basis of the tangent space
Keywords :
Lie algebras; automobiles; Lie algebra; multitrailer car control system; nonholonomy degree; singular locus; vector fields; Algebra; Character generation; Control systems; Control theory; Controllability; Geometry; Kinematics;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479204
